/********************************************************************************************************************** 
 * ENDURANCE DeltaT Processing Tool
 *---------------------------------------------------------------------------------------------------------------------
 * Author: 
 *	Alessandro Febretti							Electronic Visualization Laboratory, University of Illinois at Chicago
 * Contact & Web:
 *  febret@gmail.com							http://febretpository.net
 *---------------------------------------------------------------------------------------------------------------------
 * This tool has been built as part of the ENDURANCE Project (http://www.evl.uic.edu/endurance/).
 * ENDURANCE is supported by the NASA ASTEP program under Grant NNX07AM88G and by the NSF USAP.
 *---------------------------------------------------------------------------------------------------------------------
 * Copyright (c) 2010, Electronic Visualization Laboratory, University of Illinois at Chicago
 * All rights reserved.
 * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the 
 * following conditions are met:
 * 
 * Redistributions of source code must retain the above copyright notice, this list of conditions and the following 
 * disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions 
 * and the following disclaimer in the documentation and/or other materials provided with the distribution. 
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, 
 * INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE  GOODS OR 
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE 
 * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************************************************************/ 
#ifndef OCCUPANCY_GRID
#define OCCUPANCY_GRID

#include "dttypes.h"
#include "ravec/world_grid.h"
#include "ravec/octree_grid.h"

#include "PointCloud.h"

class OccupancyGrid
{
public:
	static const int NoThreshold = -65535;

public:
	OccupancyGrid();
	~OccupancyGrid();

	void initialize(const vmml::vec3f& minBounds, const vmml::vec3f& maxBounds, int resolution);
	void tracePoints(PointCloud& points);

	void write(const std::string& filename, FileFormat::Enum format);

	int getOccupiedCellValue() { return myOccupiedCellValue; }
	void setOccupiedCellValue(int value) { myOccupiedCellValue = value; }

	int getEmptyCellValue() { return myEmptyCellValue; }
	void setEmptyCellValue(int value) { myEmptyCellValue = value; }

	int getOccupancyThreshold() { return myOccupancyThreshold; }
	void setOccupancyThreshold(int value) { myOccupancyThreshold = value; }

private:
	void writeVtkStructuredPoints(FILE* fout);

private:
	int myOccupiedCellValue;
	int myEmptyCellValue;
	int myOccupancyThreshold;

	int myResolution;
	vmml::vector<3, int> myScaledResolution;

	vmml::vec3f mySize;
	vmml::vec3f myMinBounds;
	vmml::vec3f myMaxBounds;

	ravec::Transform myTransform;
	ravec::WorldGrid<int>* myWorldGrid;
	ravec::OctreeGrid<int>* myOctree;
};

#endif